Intersection monitoring system and method

ABSTRACT

An intersection monitoring system includes at least one sensor disposed and configured to detect objects in the proximity of an intersection of roads. A computer processor is in communication with the at least one sensor. The computer processor is configured to determine at least one of a speed, an acceleration, and a heading for each object based on data from the sensors. The computer processor is also configured to estimate the trajectory for each object. The computer processor is further configured to predict a probability for a collision between at least two of the objects based on the estimated trajectory for each object and to send an alert in response to the probability being greater than a predetermined value.

TECHNICAL FIELD

The technical field relates generally to intelligent transportationsystems (“ITS”) and more particularly to traffic sensing to preventcrashes.

BRIEF SUMMARY

In one exemplary embodiment, a system includes at least one sensordisposed and configured to detect objects in the proximity of anintersection of roads. The system also includes a computer processor incommunication with the at least one sensor. The computer processor isconfigured to determine at least one of a speed, an acceleration, and aheading for each object based on data from the sensors. The computerprocessor is also configured to estimate the trajectory for each objectbased on at least one of the speed, acceleration, and heading for eachobject. The computer processor is further configured to predict aprobability for a collision between at least two of the objects based onthe estimated trajectory for each object. The computer processor is alsoconfigured to send an alert in response to the probability being greaterthan a predetermined value.

In one exemplary embodiment, a method for alerting a user of a potentialcollision includes detecting objects in the proximity of an intersectionof roads using at least one sensor. The method also includes determiningat least one of a speed, an acceleration, and a heading for the objectsbased on data from the at least one sensor. The method further includesestimating the trajectory for each object based on at least one of thespeed, acceleration, and heading for each object. The method alsoincludes predicting a probability for a collision between at least twoof the objects based on the estimated trajectory for each object. Themethod further includes sending an alert in response to the probabilitybeing greater than a predetermined value.

BRIEF DESCRIPTION OF THE DRAWINGS

Other advantages of the disclosed subject matter will be readilyappreciated, as the same becomes better understood by reference to thefollowing detailed description when considered in connection with theaccompanying drawings wherein:

FIG. 1 is a diagram of an intersection monitoring system according toone exemplary embodiment; and

FIG. 2 is a block schematic diagram of the intersection monitoringsystem according to one exemplary embodiment.

DETAILED DESCRIPTION

Referring to the Figures, wherein like numerals indicate like partsthroughout the several views, an intersection monitoring system 10 andmethod is shown and described herein.

The system 10 includes at least one sensor 12 for detecting variousobjects 14. The at least one sensor 12 may be implemented with a singlesensor 12 or a plurality of sensors 12. As such, the word sensor 12 andsensors 12 may be used herein without limitation. The objects 14 may bevehicles (e.g., automobiles, trucks, motorcycles, etc.), pedestrians,bicycles, strollers, animals (e.g., dogs). Of course, this list is notexhaustive and other objects 14 may be contemplated.

The sensors 12 of the exemplary embodiments are configured to detectobjects 14 in the proximity of an intersection 16 of roads 18. As such,in the exemplary embodiments, the sensors 12 are disposed at or near theintersection 16. For example, each sensor 12 may be disposed on a pole,stanchion, cross-bar, building, or other structure (not shown) at ornear the intersection 16. The sensors 12 may be implemented with any ofvarious devices, including, but certainly not limited to, a camera, aradar transceiver, and a lidar transceiver (not separately numbered).

The system 10 also includes a computer processor 20. The computerprocessor 20 (hereafter referred to simply as the “processor” 20) mayinclude at least one of a microprocessor, microcontroller, anapplication specific integrated circuits (“ASICs”), a digital signalprocessor, etc., as is readily appreciated by those skilled in the art.The processor 20 is capable of performing calculations, executinginstructions (i.e., running a program), and otherwise manipulating dataas is also appreciated by those skilled in the art.

The processor 20 is in communication with the at least one sensor 12. Assuch, the processor 20 may receive data from the various sensors 12. Theprocessor 20 is configured to determine various characteristics of theobjects 14 based on the data provided by the sensors 12. Thesecharacteristics include, but are not limited to, type of object 14(e.g., motorcycle, truck, pedestrian, car, etc.), size of each object14, position of each object 14, weight of each object 14, travel speedof each object 14, acceleration of each object 14, and heading for eachobject.

The processor 20 is also configured to estimate the trajectory for eachobject 14. This estimation is calculated based on at least one of thespeed, acceleration, and heading for each object 14. That is, theprocessor 20 is configured to estimate potential future locations of theobject 14 based on current and past location, speed, and/oracceleration.

The processor 20 is further configured to predict a probability for acollision between at least two of the objects 14. This probability isbased, at least in part, on the estimated trajectory for each object 14.The probability may be a number corresponding to a likelihood ofcollision based on various factors including the potential futurelocations of the objects 14.

The processor 20 may have access to information regarding trafficsignals (not shown) at the intersection 16. In one embodiment, theprocessor 20 may be in communication with a signal controller (notshown) to determine the state of the various traffic signals (e.g.,“green light north and southbound, red light east and westbound”, etc.).In another embodiment, the processor 20 may determine the state of thetraffic signals based on data provided by the sensors 12. The processor20 may utilize the information regarding traffic signals in predictingthe probability for a collision between objects 14.

The processor 20 may also be configured to send an alert in response tothe probability of collision being greater than a predetermined value.That is, if determined that a collision of objects 14 is likely, theprocessor 20 may issue an alert to one or more users of the system 10 sothat corrective action may be taken and the collision be avoided and/ordamage reduced.

As such, the system 10 may include one or more annunciators 22 incommunication with the processor 20. The annunciator 22 is configured toreceive the alert from the processor 20 and providing a correspondingwarning to a user of the potential collision. The annunciator 22 may beimplemented in one or more of the vehicles, utilizing at least one of aloudspeaker, a light, a display, and an electronic device (e.g., a smartphone). Communication may be achieved, for example, byvehicle-to-vehicle communication (“V2V”) techniques and/or vehicle-to-X(“V2X”) techniques. Of course, other devices and techniques forimplementing the annunciator 22 will be apparent to those skilled in theart.

The annunciator 22 may also be implemented outside of a vehicle. Forinstance, the annunciator may be implemented as part of a trafficsignal. For example, in one embodiment, the traffic illuminates a redlight in response to the alert. The illumination of the red light may beflashed or otherwise differentiated from normal operation of the trafficsignal. As such, drivers without an in-vehicle annunciator 22,bicyclists, and/or pedestrians may learn of the alert, and, accordinglythe potential collision.

The system 10 of the exemplary embodiments includes a transmitter 23.The transmitter 23 is in communication with the processor 20 andconfigured to facilitate the sending of the alert. In one exemplaryembodiment, the transmitter 23 is a radio frequency (“RF”) transmitterand/or transceiver often referred to simply as a radio. In anotherexemplary embodiment, the transmitter 23 is an optical-band transmitter,e.g., an ultraviolet or infrared transmitter. Other transmitters 23 forwireless sending of data will also be appreciated by those skilled inthe art.

The system 10 may also include a memory 24 for storing data. The memory24 is in communication with the processor 20 and/or and the sensors 12for storing data related to the intersection 16. The memory 24 may beimplemented, for example, with semiconductors (e.g., random accessmemory, read only memory, flash memory, etc.), magnetic media (e.g.,floppy disks, hard drives, magnetic tapes, etc.), optical storage (e.g.,compact discs, digital versatile discs (DVDs), Blu-ray discs, etc.),and/or any other suitable data storage device.

The data related to the intersection 16 that may be stored in the memory24 may include, but is certainly not limited to: speeds of vehiclestravelling through the intersection, average speeds of vehiclestravelling through the intersection, number of vehicles travellingthrough the intersection, average number of vehicles travelling throughthe intersection in a time period, types of vehicles travelling though,turning direction of vehicles, and number of vehicles per lane. Otherdata regarding the intersection 16, e.g., time, date, season, etc., mayalso be recorded and cross-referenced to the other data.

The data related to the intersection 16 may be used for variouspurposes. These purposes include, but are not limited to, road planning,connected vehicle efficiency, and navigation route planning. Data couldbe used for real-time or predictive navigation route planning to avoidunnecessary congestion by avoiding certain lanes and/or routes. Datacould also be used to update maps based on lane closures and/orinfrastructure changes (e.g., increased number of travel lanes) whichcan be observed by the infrastructure sensors. Data could also be usedby infrastructure to change traffic light timing to increase trafficefficiency in real-time or based on trends/learning.

The processor 20 and/or the memory 24 may be in communication with oneor more networks, e.g., the world-wide network commonly known as theInternet. As such, the data regarding the intersection 16 may be madeavailable to various parties for various uses. For example, the data maybe made available through one or more application program interfaces(“APIs”). As a result, various applications (e.g., mobile apps runningon smartphones) may utilize the data in their operation. In one example,a mobile app could be utilized to condition driving behavior at aparticular intersection 16 based on data regarding driving patterns atsaid intersection 16.

In another example, the data may be utilized by law enforcement toevaluate traffic violations at the intersection 16. In yet anotherexample, the data may be utilized in emergency vehicle driving.Recordings could be stored for law enforcement use after criminalaction. Detailed laser data could even help to analyze walking“signatures” etc.

The data, e.g., the number and type of road users detected, may furtherbe used for advertising purposes. For example, if many children aredetected (e.g., during school crossing time) advertising (e.g., on abillboard) could change to something more appropriate/targeted towardchildren. If a baby carriage is detected, then the advertising thentargeted toward families. If a sports car is alone at the intersection,then the advertising may be changed to more age-appropriate content.

The present invention has been described herein in an illustrativemanner, and it is to be understood that the terminology which has beenused is intended to be in the nature of words of description rather thanof limitation. Obviously, many modifications and variations of theinvention are possible in light of the above teachings. The inventionmay be practiced otherwise than as specifically described within thescope of the appended claims.

What is claimed is:
 1. A system comprising: at least one sensor disposedand configured to detect objects in the proximity of an intersection ofroads; and a computer processor in communication with said at least onesensor, said computer processor configured to determine at least one ofa speed, an acceleration, and a heading for each object based on datafrom the sensors; estimate the trajectory for each object based on atleast one of the speed, acceleration, and heading for each object;predict a probability for a collision between at least two of theobjects based on the estimated trajectory for each object; and send analert in response to the probability being greater than a predeterminedvalue.
 2. The system as set forth in claim 1 further comprising a memoryin communication with at least one of said computer processor and saidat least one sensor for storing data related to the intersection.
 3. Thesystem as set forth in claim 2 wherein the data related to theintersection comprises at least one of speeds of vehicles travellingthrough the intersection, average speeds of vehicles travelling throughthe intersection, number of vehicles travelling through theintersection, and average number of vehicles travelling through theintersection in a time period.
 4. The system as set forth in claim 1further comprising a transmitter in communication with said computerprocessor and configured to facilitate the sending of the alert.
 5. Thesystem as set forth in claim 4 wherein said transmitter is furtherdefined as a radio frequency (“RF”) transmitter.
 6. The system as setforth in claim 1 wherein said at least one sensor comprises at least oneof a camera, a radar transceiver, and a lidar transceiver.
 7. The systemas set forth in claim 1 further comprising an annunciator incommunication with said computer processor for receiving the alert fromsaid processor and providing a warning to a user of the potentialcollision.
 8. The system as set forth in claim 7 wherein saidannunciator comprises at least one of a loudspeaker, a light, a display,and an electronic device.
 9. The system as set forth in claim 7 whereinsaid annunciator comprises a traffic signal and wherein said trafficsignal illuminates a red light in response to the alert.
 10. A methodfor alerting a user of a potential collision, said method comprising:detecting objects in the proximity of an intersection of roads using atleast one sensor; and determining at least one of a speed, anacceleration, and a heading for the objects based on data from the atleast one sensor; estimating the trajectory for each object based on atleast one of the speed, acceleration, and heading for each object;predicting a probability for a collision between at least two of theobjects based on the estimated trajectory for each object; and sendingan alert in response to the probability being greater than apredetermined value.
 11. The method as set forth in claim 10 furthercomprising storing data related to the intersection in a memory incommunication with at least one of the computer processor and the atleast one sensor.
 12. The method as set forth in claim 11 wherein thedata related to the intersection comprises at least one of speeds ofvehicles travelling through the intersection, average speeds of vehiclestravelling through the intersection, number of vehicles travellingthrough the intersection, and average number of vehicles travellingthrough the intersection in a time period.
 13. The method as set forthin claim 10 wherein the sending the alert comprises sending the alertwith a transmitter in communication with the computer processor.
 14. Themethod as set forth in claim 13 wherein the transmitter is a radiofrequency (“RF”) transmitter.
 15. The method as set forth in claim 10wherein the at least one sensor comprises at least one of a camera, aradar transceiver, and a lidar transceiver.
 16. The method as set forthin claim 10 further comprising receiving the alert from the processor atan annunciator in communication with the processor and providing awarning to a user of the potential collision.
 17. The method as setforth in claim 16 wherein the annunciator comprises at least one of aloudspeaker, a light, a display, and an electronic device.
 18. Thesystem as set forth in claim 16 wherein the annunciator comprises atraffic signal and wherein the traffic signal illuminates a red light inresponse to the alert.